(define (problem multirobot_45_50%_c8)
 (:domain multirobot)
 (:objects
  v0 r172
  v1 r117
  v2
  v3
  v4
  v5
  v6 r148
  v7 r97
  v8 r101
  v9
  v10 r128
  v11 r86
  v12 r116
  v13 r105
  v14
  v15 r121
  v16 r133
  v17 r134
  v18 r169
  v19
  v20 r164
  v21 r91
  v22 r120
  v23
  v24 r103
  v25 r114
  v26
  v27
  v28
  v29 r111
  v30
  v31
  v32
  v33
  v34
  v35
  v36 r83
  v37
  v38 r173
  v39 r90
  v40 r147
  v41
  v42 r89
  v43
  v44
  v45 r100
  v46
  v47
  v48
  v49 r107
  v50
  v51
  v52
  v53 r78
  v54 r123
  v55 r92
  v56
  v57
  v58 r129
  v59
  v60 r119
  v61
  v62
  v63 r109
  v64 r127
  v65
  v66 r104
  v67 r81
  v68 r115
  v69 r93
  v70
  v71
  v72 r142
  v73 r122
  v74 r124
  v75 r153
  v76
  v77 r94
  v78
  v79
  v80
  v81
  v82
  v83
  v84 r125
  v85 r158
  v86
  v87 r151
  v88 r143
  v89 r136
  v90 r138
  v91
  v92
  v93 r150
  v94 r149
  v95
  v96 r110
  v97 r174
  v98
  v99 r152
  v100
  v101
  v102
  v103 r79
  v104 r146
  v105 r102
  v106 r170
  v107 r145
  v108
  v109 r131
  v110
  v111 r87
  v112 r82
  v113
  v114 r144
  v115
  v116
  v117
  v118 r160
  v119
  v120 r161
  v121 r118
  v122 r157
  v123 r165
  v124 r84
  v125 r141
  v126
  v127
  v128 r80
  v129
  v130 r154
  v131
  v132 r135
  v133 r95
  v134 r171
  v135
  v136 r139
  v137 r137
  v138
  v139
  v140
  v141 r132
  v142 r156
  v143 r88
  v144 r108
  v145 r175
  v146 r162
  v147 r126
  v148
  v149 r166
  v150 r168
  v151 r163
  v152
  v153
  v154 r167
  v155
  v156 r112
  v157 r140
  v158
  v159
  v160
  v161 r159
  v162
  v163
  v164 r96
  v165 r98
  v166 r106
  v167 r155
  v168 r130
  v169
  v170
  v171
  v172 r85
  v173
  v174 r113
  v175 r99
 )
 (:init
  (at r172 v0)
  (at r117 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r148 v6)
  (at r97 v7)
  (at r101 v8)
  (free v9)
  (at r128 v10)
  (at r86 v11)
  (at r116 v12)
  (at r105 v13)
  (free v14)
  (at r121 v15)
  (at r133 v16)
  (at r134 v17)
  (at r169 v18)
  (free v19)
  (at r164 v20)
  (at r91 v21)
  (at r120 v22)
  (free v23)
  (at r103 v24)
  (at r114 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r111 v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (at r83 v36)
  (free v37)
  (at r173 v38)
  (at r90 v39)
  (at r147 v40)
  (free v41)
  (at r89 v42)
  (free v43)
  (free v44)
  (at r100 v45)
  (free v46)
  (free v47)
  (free v48)
  (at r107 v49)
  (free v50)
  (free v51)
  (free v52)
  (at r78 v53)
  (at r123 v54)
  (at r92 v55)
  (free v56)
  (free v57)
  (at r129 v58)
  (free v59)
  (at r119 v60)
  (free v61)
  (free v62)
  (at r109 v63)
  (at r127 v64)
  (free v65)
  (at r104 v66)
  (at r81 v67)
  (at r115 v68)
  (at r93 v69)
  (free v70)
  (free v71)
  (at r142 v72)
  (at r122 v73)
  (at r124 v74)
  (at r153 v75)
  (free v76)
  (at r94 v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (at r125 v84)
  (at r158 v85)
  (free v86)
  (at r151 v87)
  (at r143 v88)
  (at r136 v89)
  (at r138 v90)
  (free v91)
  (free v92)
  (at r150 v93)
  (at r149 v94)
  (free v95)
  (at r110 v96)
  (at r174 v97)
  (free v98)
  (at r152 v99)
  (free v100)
  (free v101)
  (free v102)
  (at r79 v103)
  (at r146 v104)
  (at r102 v105)
  (at r170 v106)
  (at r145 v107)
  (free v108)
  (at r131 v109)
  (free v110)
  (at r87 v111)
  (at r82 v112)
  (free v113)
  (at r144 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r160 v118)
  (free v119)
  (at r161 v120)
  (at r118 v121)
  (at r157 v122)
  (at r165 v123)
  (at r84 v124)
  (at r141 v125)
  (free v126)
  (free v127)
  (at r80 v128)
  (free v129)
  (at r154 v130)
  (free v131)
  (at r135 v132)
  (at r95 v133)
  (at r171 v134)
  (free v135)
  (at r139 v136)
  (at r137 v137)
  (free v138)
  (free v139)
  (free v140)
  (at r132 v141)
  (at r156 v142)
  (at r88 v143)
  (at r108 v144)
  (at r175 v145)
  (at r162 v146)
  (at r126 v147)
  (free v148)
  (at r166 v149)
  (at r168 v150)
  (at r163 v151)
  (free v152)
  (free v153)
  (at r167 v154)
  (free v155)
  (at r112 v156)
  (at r140 v157)
  (free v158)
  (free v159)
  (free v160)
  (at r159 v161)
  (free v162)
  (free v163)
  (at r96 v164)
  (at r98 v165)
  (at r106 v166)
  (at r155 v167)
  (at r130 v168)
  (free v169)
  (free v170)
  (free v171)
  (at r85 v172)
  (free v173)
  (at r113 v174)
  (at r99 v175)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v108)
  (adjacent v1 v154)
  (adjacent v2 v3)
  (adjacent v2 v134)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v32)
  (adjacent v4 v5)
  (adjacent v4 v15)
  (adjacent v4 v94)
  (adjacent v5 v6)
  (adjacent v5 v20)
  (adjacent v5 v29)
  (adjacent v5 v130)
  (adjacent v6 v7)
  (adjacent v6 v74)
  (adjacent v6 v88)
  (adjacent v6 v117)
  (adjacent v7 v8)
  (adjacent v7 v9)
  (adjacent v7 v116)
  (adjacent v8 v30)
  (adjacent v8 v50)
  (adjacent v9 v10)
  (adjacent v9 v43)
  (adjacent v10 v11)
  (adjacent v10 v28)
  (adjacent v10 v42)
  (adjacent v11 v12)
  (adjacent v11 v27)
  (adjacent v12 v13)
  (adjacent v12 v160)
  (adjacent v13 v14)
  (adjacent v13 v29)
  (adjacent v14 v15)
  (adjacent v14 v19)
  (adjacent v14 v21)
  (adjacent v14 v44)
  (adjacent v14 v135)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v26)
  (adjacent v16 v38)
  (adjacent v16 v102)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v39)
  (adjacent v18 v61)
  (adjacent v19 v20)
  (adjacent v19 v31)
  (adjacent v19 v73)
  (adjacent v20 v139)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v30)
  (adjacent v22 v31)
  (adjacent v23 v24)
  (adjacent v23 v39)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v49)
  (adjacent v25 v110)
  (adjacent v26 v40)
  (adjacent v27 v28)
  (adjacent v29 v86)
  (adjacent v30 v86)
  (adjacent v31 v43)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v134)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v56)
  (adjacent v36 v37)
  (adjacent v36 v62)
  (adjacent v36 v103)
  (adjacent v37 v38)
  (adjacent v38 v107)
  (adjacent v38 v133)
  (adjacent v39 v47)
  (adjacent v40 v41)
  (adjacent v40 v101)
  (adjacent v41 v42)
  (adjacent v41 v80)
  (adjacent v42 v89)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v48)
  (adjacent v47 v142)
  (adjacent v48 v49)
  (adjacent v48 v95)
  (adjacent v50 v51)
  (adjacent v50 v57)
  (adjacent v51 v52)
  (adjacent v51 v87)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v140)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v68)
  (adjacent v56 v172)
  (adjacent v57 v58)
  (adjacent v57 v67)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v62 v102)
  (adjacent v63 v64)
  (adjacent v63 v130)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v123)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v79)
  (adjacent v71 v129)
  (adjacent v72 v73)
  (adjacent v72 v161)
  (adjacent v73 v85)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v112)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v111)
  (adjacent v87 v88)
  (adjacent v88 v123)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v109)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v95 v122)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v168)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v162)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v141)
  (adjacent v110 v111)
  (adjacent v111 v155)
  (adjacent v112 v113)
  (adjacent v112 v149)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v124)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v169)
  (adjacent v123 v131)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v148)
  (adjacent v128 v129)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v173)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v159 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v166 v175)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r168 v2)
  (at r155 v3)
  (at r120 v4)
  (at r158 v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r106 v14)
  (free v15)
  (at r79 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r144 v20)
  (at r135 v21)
  (at r164 v22)
  (free v23)
  (at r112 v24)
  (at r132 v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (at r126 v31)
  (at r141 v32)
  (at r86 v33)
  (at r95 v34)
  (at r166 v35)
  (at r129 v36)
  (free v37)
  (free v38)
  (at r80 v39)
  (at r121 v40)
  (free v41)
  (at r94 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r133 v46)
  (free v47)
  (free v48)
  (at r157 v49)
  (at r87 v50)
  (free v51)
  (at r134 v52)
  (at r151 v53)
  (at r174 v54)
  (at r143 v55)
  (free v56)
  (at r97 v57)
  (free v58)
  (at r90 v59)
  (at r100 v60)
  (at r109 v61)
  (at r108 v62)
  (free v63)
  (at r159 v64)
  (free v65)
  (at r173 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r105 v71)
  (at r124 v72)
  (at r136 v73)
  (at r101 v74)
  (at r116 v75)
  (at r149 v76)
  (at r83 v77)
  (at r123 v78)
  (free v79)
  (at r119 v80)
  (free v81)
  (at r85 v82)
  (at r81 v83)
  (free v84)
  (at r172 v85)
  (free v86)
  (at r88 v87)
  (at r137 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r99 v92)
  (at r125 v93)
  (free v94)
  (at r146 v95)
  (at r103 v96)
  (at r156 v97)
  (free v98)
  (at r93 v99)
  (free v100)
  (at r96 v101)
  (at r104 v102)
  (at r171 v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r169 v108)
  (free v109)
  (free v110)
  (at r145 v111)
  (free v112)
  (free v113)
  (at r147 v114)
  (at r84 v115)
  (free v116)
  (free v117)
  (free v118)
  (at r138 v119)
  (at r98 v120)
  (free v121)
  (at r89 v122)
  (free v123)
  (at r154 v124)
  (at r170 v125)
  (free v126)
  (at r127 v127)
  (at r140 v128)
  (at r161 v129)
  (at r82 v130)
  (at r122 v131)
  (free v132)
  (at r91 v133)
  (at r139 v134)
  (free v135)
  (free v136)
  (at r131 v137)
  (at r117 v138)
  (at r153 v139)
  (free v140)
  (free v141)
  (free v142)
  (at r113 v143)
  (free v144)
  (at r102 v145)
  (at r118 v146)
  (free v147)
  (free v148)
  (free v149)
  (at r160 v150)
  (free v151)
  (at r111 v152)
  (at r115 v153)
  (free v154)
  (at r92 v155)
  (free v156)
  (free v157)
  (at r107 v158)
  (at r128 v159)
  (at r152 v160)
  (at r148 v161)
  (at r110 v162)
  (at r162 v163)
  (free v164)
  (at r114 v165)
  (at r150 v166)
  (at r165 v167)
  (free v168)
  (free v169)
  (at r167 v170)
  (at r130 v171)
  (at r142 v172)
  (at r78 v173)
  (at r175 v174)
  (at r163 v175)
  )
 )
)